mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 03:13:44 +08:00
ina238: Do not expose raw adc config to user, make specific to ina238
This commit is contained in:
Thomas Debrunner
committed by
Beat Küng
Beat Küng
parent
b8d0bb44c4
commit
43ece74fa0
@@ -41,7 +41,7 @@ px4_add_board(
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pca9685_pwm_out
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power_monitor/ina226
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power_monitor/ina228
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power_monitor/ina23X
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power_monitor/ina238
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#protocol_splitter
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pwm_input
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pwm_out_sim
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@@ -3,7 +3,7 @@
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# board specific defaults
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#------------------------------------------------------------------------------
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param set-default SENS_EN_INA23X 0
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param set-default SENS_EN_INA238 0
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param set-default SENS_EN_INA228 0
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param set-default SENS_EN_INA226 1
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@@ -19,11 +19,11 @@ then
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ina228 -X -b 2 -t 2 -k start
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fi
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if param compare SENS_EN_INA23X 1
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if param compare SENS_EN_INA238 1
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then
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# Start Digital power monitors
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ina23X -X -b 1 -t 1 -k start
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ina23X -X -b 2 -t 2 -k start
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ina238 -X -b 1 -t 1 -k start
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ina238 -X -b 2 -t 2 -k start
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fi
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if ver hwtypecmp V5X90 V5X91 V5X92 V5Xa0 V5Xa1 V5Xa2
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@@ -42,7 +42,7 @@ px4_add_board(
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pca9685_pwm_out
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power_monitor/ina226
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power_monitor/ina228
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power_monitor/ina23X
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power_monitor/ina238
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#protocol_splitter
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pwm_out_sim
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pwm_out
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@@ -3,7 +3,7 @@
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# board specific defaults
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#------------------------------------------------------------------------------
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param set-default SENS_EN_INA23X 0
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param set-default SENS_EN_INA238 0
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param set-default SENS_EN_INA228 0
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param set-default SENS_EN_INA226 1
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@@ -18,11 +18,11 @@ then
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ina228 -X -b 2 -t 2 -k start
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fi
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if param compare SENS_EN_INA23X 1
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if param compare SENS_EN_INA238 1
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then
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# Start Digital power monitors
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ina23X -X -b 1 -t 1 -k start
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ina23X -X -b 2 -t 2 -k start
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ina238 -X -b 1 -t 1 -k start
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ina238 -X -b 2 -t 2 -k start
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fi
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# Internal SPI BMI088
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@@ -182,7 +182,7 @@
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#define DRV_DIST_DEVTYPE_GY_US42 0x9C
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#define DRV_BAT_DEVTYPE_BATMON_SMBUS 0x9d
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#define DRV_POWER_DEVTYPE_INA23X 0x9E
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#define DRV_POWER_DEVTYPE_INA238 0x9E
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#define DRV_GPIO_DEVTYPE_MCP23009 0x9F
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#define DRV_GPS_DEVTYPE_ASHTECH 0xA0
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+4
-4
@@ -31,13 +31,13 @@
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#
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############################################################################
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px4_add_module(
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MODULE drivers__ina23X
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MAIN ina23X
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MODULE drivers__ina238
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MAIN ina238
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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SRCS
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ina23X_main.cpp
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ina23X.cpp
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ina238_main.cpp
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ina238.cpp
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DEPENDS
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battery
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px4_work_queue
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+41
-86
@@ -32,54 +32,40 @@
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****************************************************************************/
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/**
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* Driver for the I2C attached INA23X
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* Driver for the I2C attached INA238
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*/
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#include "ina23X.h"
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#include "ina238.h"
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INA23X::INA23X(const I2CSPIDriverConfig &config, int battery_index) :
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INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
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I2C(config),
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ModuleParams(nullptr),
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I2CSPIDriver(config),
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_sample_perf(perf_alloc(PC_ELAPSED, "ina23X_read")),
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_comms_errors(perf_alloc(PC_COUNT, "ina23X_com_err")),
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_collection_errors(perf_alloc(PC_COUNT, "ina23X_collection_err")),
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_measure_errors(perf_alloc(PC_COUNT, "ina23X_measurement_err")),
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_config(INA23X_ADCCONFIG),
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_battery(battery_index, this, INA23X_SAMPLE_INTERVAL_US)
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_sample_perf(perf_alloc(PC_ELAPSED, "ina238_read")),
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_comms_errors(perf_alloc(PC_COUNT, "ina238_com_err")),
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_collection_errors(perf_alloc(PC_COUNT, "ina238_collection_err")),
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_battery(battery_index, this, INA238_SAMPLE_INTERVAL_US)
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{
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float fvalue = DEFAULT_MAX_CURRENT;
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_max_current = fvalue;
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param_t ph = param_find("INA23X_CURRENT");
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param_t ph = param_find("INA238_CURRENT");
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if (ph != PARAM_INVALID && param_get(ph, &fvalue) == PX4_OK) {
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_max_current = fvalue;
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}
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_range = _max_current > (DEFAULT_MAX_CURRENT - 1.0f) ? INA23X_ADCRANGE_HIGH : INA23X_ADCRANGE_LOW;
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_range = _max_current > (DEFAULT_MAX_CURRENT - 1.0f) ? INA238_ADCRANGE_HIGH : INA238_ADCRANGE_LOW;
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fvalue = DEFAULT_SHUNT;
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_rshunt = fvalue;
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ph = param_find("INA23X_SHUNT");
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ph = param_find("INA238_SHUNT");
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if (ph != PARAM_INVALID && param_get(ph, &fvalue) == PX4_OK) {
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_rshunt = fvalue;
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}
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ph = param_find("INA23X_CONFIG");
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int32_t value = INA23X_ADCCONFIG;
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_config = (uint16_t)value;
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if (ph != PARAM_INVALID && param_get(ph, &value) == PX4_OK) {
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_config = (uint16_t)value;
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}
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_mode_triggered = ((_config & INA23X_MODE_MASK) >> INA23X_MODE_SHIFTS) <=
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((INA23X_MODE_TEMP_SHUNT_BUS_TRIG & INA23X_MODE_MASK) >>
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INA23X_MODE_SHIFTS);
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_current_lsb = _max_current / INA23X_DN_MAX;
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_current_lsb = _max_current / INA238_DN_MAX;
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// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
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_battery.updateBatteryStatus(
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@@ -93,16 +79,15 @@ INA23X::INA23X(const I2CSPIDriverConfig &config, int battery_index) :
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);
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}
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INA23X::~INA23X()
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INA238::~INA238()
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{
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/* free perf counters */
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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perf_free(_collection_errors);
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perf_free(_measure_errors);
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}
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int INA23X::read(uint8_t address, uint16_t &data)
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int INA238::read(uint8_t address, uint16_t &data)
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{
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// read desired little-endian value via I2C
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uint16_t received_bytes;
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@@ -119,13 +104,13 @@ int INA23X::read(uint8_t address, uint16_t &data)
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return ret;
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}
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int INA23X::write(uint8_t address, uint16_t value)
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int INA238::write(uint8_t address, uint16_t value)
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{
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uint8_t data[3] = {address, ((uint8_t)((value & 0xff00) >> 8)), (uint8_t)(value & 0xff)};
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return transfer(data, sizeof(data), nullptr, 0);
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}
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int INA23X::init()
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int INA238::init()
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{
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int ret = PX4_ERROR;
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@@ -134,30 +119,23 @@ int INA23X::init()
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return ret;
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}
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write(INA23X_REG_CONFIG, (uint16_t)(INA23X_RST_RESET | _range));
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write(INA238_REG_CONFIG, (uint16_t)(INA238_RST_RESET | _range));
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uint16_t shunt_calibration = static_cast<uint16_t>(INA23X_CONST * _current_lsb * _rshunt);
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uint16_t shunt_calibration = static_cast<uint16_t>(INA238_CONST * _current_lsb * _rshunt);
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if (_range == INA23X_ADCRANGE_LOW) {
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if (_range == INA238_ADCRANGE_LOW) {
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shunt_calibration *= 4;
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}
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if (write(INA23X_REG_SHUNTCAL, shunt_calibration) < 0) {
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if (write(INA238_REG_SHUNTCAL, shunt_calibration) < 0) {
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return -3;
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}
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// Set the CONFIG for max I
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write(INA23X_REG_CONFIG, (uint16_t) _range);
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write(INA238_REG_CONFIG, (uint16_t) _range);
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// If we run in continuous mode then start it here
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if (!_mode_triggered) {
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ret = write(INA23X_REG_ADCCONFIG, _config);
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} else {
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ret = PX4_OK;
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}
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// Start ADC continous mode here
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ret = write(INA238_REG_ADCCONFIG, (uint16_t)INA238_ADCCONFIG);
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start();
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_sensor_ok = true;
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@@ -166,7 +144,7 @@ int INA23X::init()
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return ret;
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}
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int INA23X::force_init()
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int INA238::force_init()
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{
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int ret = init();
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@@ -175,18 +153,17 @@ int INA23X::force_init()
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return ret;
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}
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int INA23X::probe()
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int INA238::probe()
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{
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uint16_t value{0};
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if (read(INA23X_MANUFACTURER_ID, value) != PX4_OK || value != INA23X_MFG_ID_TI) {
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if (read(INA238_MANUFACTURER_ID, value) != PX4_OK || value != INA238_MFG_ID_TI) {
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PX4_DEBUG("probe mfgid %d", value);
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return -1;
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}
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if (read(INA23X_DEVICE_ID, value) != PX4_OK || (
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INA23X_DEVICEID(value) != INA238_MFG_DIE &&
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INA23X_DEVICEID(value) != INA239_MFG_DIE
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if (read(INA238_DEVICE_ID, value) != PX4_OK || (
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INA238_DEVICEID(value) != INA238_MFG_DIE
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)) {
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PX4_DEBUG("probe die id %d", value);
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return -1;
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@@ -195,23 +172,8 @@ int INA23X::probe()
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return PX4_OK;
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}
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int INA23X::measure()
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{
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int ret = PX4_OK;
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if (_mode_triggered) {
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ret = write(INA23X_REG_ADCCONFIG, _config);
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if (ret < 0) {
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perf_count(_comms_errors);
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PX4_DEBUG("i2c::transfer returned %d", ret);
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}
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}
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return ret;
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}
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int INA23X::collect()
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int INA238::collect()
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{
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perf_begin(_sample_perf);
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@@ -229,8 +191,8 @@ int INA23X::collect()
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int16_t bus_voltage{0};
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int16_t current{0};
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success = success && (read(INA23X_REG_VSBUS, bus_voltage) == PX4_OK);
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success = success && (read(INA23X_REG_CURRENT, current) == PX4_OK);
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success = success && (read(INA238_REG_VSBUS, bus_voltage) == PX4_OK);
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success = success && (read(INA238_REG_CURRENT, current) == PX4_OK);
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if (!success) {
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PX4_DEBUG("error reading from sensor");
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@@ -241,7 +203,7 @@ int INA23X::collect()
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_battery.updateBatteryStatus(
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hrt_absolute_time(),
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(float) bus_voltage * INA23X_VSCALE,
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(float) bus_voltage * INA238_VSCALE,
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(float) current * _current_lsb,
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success,
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battery_status_s::BATTERY_SOURCE_POWER_MODULE,
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@@ -259,20 +221,20 @@ int INA23X::collect()
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}
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}
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void INA23X::start()
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void INA238::start()
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{
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ScheduleClear();
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/* reset the report ring and state machine */
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_collect_phase = false;
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_measure_interval = INA23X_CONVERSION_INTERVAL;
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_measure_interval = INA238_CONVERSION_INTERVAL;
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/* schedule a cycle to start things */
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ScheduleDelayed(5);
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}
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void INA23X::RunImpl()
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void INA238::RunImpl()
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{
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if (_initialized) {
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if (_collect_phase) {
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@@ -285,27 +247,20 @@ void INA23X::RunImpl()
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}
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/* next phase is measurement */
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_collect_phase = !_mode_triggered;
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_collect_phase = true;
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if (_measure_interval > INA23X_CONVERSION_INTERVAL) {
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if (_measure_interval > INA238_CONVERSION_INTERVAL) {
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/* schedule a fresh cycle call when we are ready to measure again */
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ScheduleDelayed(_measure_interval - INA23X_CONVERSION_INTERVAL);
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ScheduleDelayed(_measure_interval - INA238_CONVERSION_INTERVAL);
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return;
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}
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}
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/* Measurement phase */
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/* Perform measurement */
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if (measure() != PX4_OK) {
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perf_count(_measure_errors);
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}
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/* next phase is collection */
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_collect_phase = true;
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/* schedule a fresh cycle call when the measurement is done */
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ScheduleDelayed(INA23X_CONVERSION_INTERVAL);
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ScheduleDelayed(INA238_CONVERSION_INTERVAL);
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} else {
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_battery.updateBatteryStatus(
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@@ -319,12 +274,12 @@ void INA23X::RunImpl()
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);
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if (init() != PX4_OK) {
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ScheduleDelayed(INA23X_INIT_RETRY_INTERVAL_US);
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ScheduleDelayed(INA238_INIT_RETRY_INTERVAL_US);
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}
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}
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}
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void INA23X::print_status()
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void INA238::print_status()
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{
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I2CSPIDriverBase::print_status();
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@@ -336,6 +291,6 @@ void INA23X::print_status()
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} else {
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PX4_INFO("Device not initialized. Retrying every %d ms until battery is plugged in.",
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INA23X_INIT_RETRY_INTERVAL_US / 1000);
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INA238_INIT_RETRY_INTERVAL_US / 1000);
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}
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}
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@@ -0,0 +1,370 @@
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/****************************************************************************
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*
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* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
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*
|
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/getopt.h>
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#include <drivers/device/i2c.h>
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#include <lib/perf/perf_counter.h>
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#include <battery/battery.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/parameter_update.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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using namespace time_literals;
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/* Configuration Constants */
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#define INA238_BASEADDR 0x45 /* 7-bit address. 8-bit address is 0x45 */
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// If initialization is forced (with the -f flag on the command line), but it fails, the drive will try again to
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// connect to the INA238 every this many microseconds
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#define INA238_INIT_RETRY_INTERVAL_US 500000
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/* INA238 Registers addresses */
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#define INA238_REG_CONFIG (0x00)
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#define INA238_REG_ADCCONFIG (0x01)
|
||||
#define INA238_REG_SHUNTCAL (0x02)
|
||||
#define INA238_REG_SHUNTTEMPCO (0x03)
|
||||
#define INA238_REG_VSHUNT (0x04)
|
||||
#define INA238_REG_VSBUS (0x05)
|
||||
#define INA238_REG_DIETEMP (0x06)
|
||||
#define INA238_REG_CURRENT (0x07)
|
||||
#define INA238_REG_POWER (0x08)
|
||||
#define INA238_REG_ENERGY (0x09)
|
||||
#define INA238_REG_CHARGE (0x0a)
|
||||
#define INA238_REG_DIAG_ALRT (0x0b)
|
||||
#define INA238_REG_SOVL (0x0c)
|
||||
#define INA238_REG_SUVL (0x0d)
|
||||
#define INA238_REG_BOVL (0x0e)
|
||||
#define INA238_REG_BUVL (0x0f)
|
||||
#define INA238_REG_TEMP_LIMIT (0x10)
|
||||
#define INA238_REG_TPWR_LIMIT (0x11)
|
||||
#define INA238_MANUFACTURER_ID (0x3e)
|
||||
#define INA238_DEVICE_ID (0x3f)
|
||||
|
||||
#define INA238_MFG_ID_TI (0x5449) // TI
|
||||
#define INA238_MFG_DIE (0x238) // INA237, INA238
|
||||
|
||||
/* INA238 Configuration (CONFIG) 16-bit Register (Address = 0h) [reset = 0h] */
|
||||
#define INA238_ADCRANGE_SHIFTS (4)
|
||||
#define INA238_ADCRANGE_MASK (1 << INA238_ADCRANGE_SHIFTS)
|
||||
#define INA238_ADCRANGE_LOW (1 << INA238_ADCRANGE_SHIFTS) // ± 40.96 mV
|
||||
#define INA238_ADCRANGE_HIGH (0 << INA238_ADCRANGE_SHIFTS) // ±163.84 mV
|
||||
#define INA238_TEMPCOMP_SHIFTS (5)
|
||||
#define INA238_TEMPCOMP_MASK (1 << INA238_TEMPCOMP_SHIFTS)
|
||||
#define INA238_TEMPCOMP_ENABLE (1 << INA238_TEMPCOMP_SHIFTS)
|
||||
#define INA238_TEMPCOMP_DISABLE (0 << INA238_TEMPCOMP_SHIFTS)
|
||||
|
||||
#define INA238_CONVDLY_SHIFTS (6)
|
||||
#define INA238_CONVDLY_MASK (0xff << INA238_CONVDLY_SHIFTS)
|
||||
#define INA238_CONVDLY2MS(n) ((n) << INA238_CONVDLY_SHIFTS)
|
||||
|
||||
#define INA238_RSTACC_SHIFTS (14)
|
||||
#define INA238_RSTACC_MASK (1 << INA238_RSTACC_SHIFTS)
|
||||
#define INA238_RSTACC_CLEAR (1 << INA238_RSTACC_SHIFTS)
|
||||
#define INA238_RSTACC_NORMAL (0 << INA238_RSTACC_SHIFTS)
|
||||
|
||||
#define INA238_RST_SHIFTS (15)
|
||||
#define INA238_RST_MASK (1 << INA238_RST_SHIFTS)
|
||||
#define INA238_RST_RESET (1 << INA238_RST_SHIFTS)
|
||||
#define INA238_RST_NORMAL (0 << INA238_RST_SHIFTS)
|
||||
|
||||
/* INA238 ADC Configuration (ADC_CONFIG) 16-bit Register (Address = 1h) [reset = FB68h] */
|
||||
#define INA238_MODE_SHIFTS (12)
|
||||
#define INA238_MODE_MASK (0xf << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_SHUTDOWN_TRIG (0 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_BUS_TRIG (1 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_SHUNT_TRIG (2 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_SHUNT_BUS_TRIG (3 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_TEMP_TRIG (4 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_TEMP_BUS_TRIG (5 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_TEMP_SHUNT_TRIG (6 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_TEMP_SHUNT_BUS_TRIG (7 << INA238_MODE_SHIFTS)
|
||||
|
||||
#define INA238_MODE_SHUTDOWN_CONT (8 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_BUS_CONT (9 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_SHUNT_CONT (10 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_SHUNT_BUS_CONT (11 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_TEMP_CONT (12 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_TEMP_BUS_CONT (13 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_TEMP_SHUNT_CONT (14 << INA238_MODE_SHIFTS)
|
||||
#define INA238_MODE_TEMP_SHUNT_BUS_CONT (15 << INA238_MODE_SHIFTS)
|
||||
|
||||
#define INA238_VBUSCT_SHIFTS (9)
|
||||
#define INA238_VBUSCT_MASK (7 << INA238_VBUSCT_SHIFTS)
|
||||
#define INA238_VBUSCT_50US (0 << INA238_VBUSCT_SHIFTS)
|
||||
#define INA238_VBUSCT_84US (1 << INA238_VBUSCT_SHIFTS)
|
||||
#define INA238_VBUSCT_150US (2 << INA238_VBUSCT_SHIFTS)
|
||||
#define INA238_VBUSCT_280US (3 << INA238_VBUSCT_SHIFTS)
|
||||
#define INA238_VBUSCT_540US (4 << INA238_VBUSCT_SHIFTS)
|
||||
#define INA238_VBUSCT_1052US (5 << INA238_VBUSCT_SHIFTS)
|
||||
#define INA238_VBUSCT_2074US (6 << INA238_VBUSCT_SHIFTS)
|
||||
#define INA238_VBUSCT_4170US (7 << INA238_VBUSCT_SHIFTS)
|
||||
|
||||
#define INA238_VSHCT_SHIFTS (6)
|
||||
#define INA238_VSHCT_MASK (7 << INA238_VSHCT_SHIFTS)
|
||||
#define INA238_VSHCT_50US (0 << INA238_VSHCT_SHIFTS)
|
||||
#define INA238_VSHCT_84US (1 << INA238_VSHCT_SHIFTS)
|
||||
#define INA238_VSHCT_150US (2 << INA238_VSHCT_SHIFTS)
|
||||
#define INA238_VSHCT_280US (3 << INA238_VSHCT_SHIFTS)
|
||||
#define INA238_VSHCT_540US (4 << INA238_VSHCT_SHIFTS)
|
||||
#define INA238_VSHCT_1052US (5 << INA238_VSHCT_SHIFTS)
|
||||
#define INA238_VSHCT_2074US (6 << INA238_VSHCT_SHIFTS)
|
||||
#define INA238_VSHCT_4170US (7 << INA238_VSHCT_SHIFTS)
|
||||
|
||||
#define INA238_VTCT_SHIFTS (3)
|
||||
#define INA238_VTCT_MASK (7 << INA238_VTCT_SHIFTS)
|
||||
#define INA238_VTCT_50US (0 << INA238_VTCT_SHIFTS)
|
||||
#define INA238_VTCT_84US (1 << INA238_VTCT_SHIFTS)
|
||||
#define INA238_VTCT_150US (2 << INA238_VTCT_SHIFTS)
|
||||
#define INA238_VTCT_280US (3 << INA238_VTCT_SHIFTS)
|
||||
#define INA238_VTCT_540US (4 << INA238_VTCT_SHIFTS)
|
||||
#define INA238_VTCT_1052US (5 << INA238_VTCT_SHIFTS)
|
||||
#define INA238_VTCT_2074US (6 << INA238_VTCT_SHIFTS)
|
||||
#define INA238_VTCT_4170US (7 << INA238_VTCT_SHIFTS)
|
||||
|
||||
#define INA238_AVERAGES_SHIFTS (0)
|
||||
#define INA238_AVERAGES_MASK (7 << INA238_AVERAGES_SHIFTS)
|
||||
#define INA238_AVERAGES_1 (0 << INA238_AVERAGES_SHIFTS)
|
||||
#define INA238_AVERAGES_4 (1 << INA238_AVERAGES_SHIFTS)
|
||||
#define INA238_AVERAGES_16 (2 << INA238_AVERAGES_SHIFTS)
|
||||
#define INA238_AVERAGES_64 (3 << INA238_AVERAGES_SHIFTS)
|
||||
#define INA238_AVERAGES_128 (4 << INA238_AVERAGES_SHIFTS)
|
||||
#define INA238_AVERAGES_256 (5 << INA238_AVERAGES_SHIFTS)
|
||||
#define INA238_AVERAGES_512 (6 << INA238_AVERAGES_SHIFTS)
|
||||
#define INA238_AVERAGES_1024 (7 << INA238_AVERAGES_SHIFTS)
|
||||
|
||||
#define INA238_ADCCONFIG (INA238_MODE_TEMP_SHUNT_BUS_CONT | INA238_VBUSCT_540US | INA238_VSHCT_540US | INA238_VTCT_540US |INA238_AVERAGES_64)
|
||||
|
||||
/* INA238 Shunt Calibration (SHUNT_CAL) 16-bit Register (Address = 2h) [reset = 1000h] */
|
||||
|
||||
#define INA238_CURRLSB_SHIFTS (0)
|
||||
#define INA238_CURRLSB_MASK (0x7fff << INA238_CURRLSB_SHIFTS)
|
||||
|
||||
/* INA238 Shunt Temperature Coefficient (SHUNT_TEMPCO) 16-bit Register (Address = 3h) [reset = 0h] */
|
||||
|
||||
#define INA238_TEMPCO_SHIFTS (0)
|
||||
#define INA238_TEMPCO_MASK (0x1fff << INA238_TEMPCO_SHIFTS)
|
||||
|
||||
/* INA238 Shunt Voltage Measurement (VSHUNT) 24-bit Register (Address = 4h) [reset = 0h] */
|
||||
|
||||
#define INA238_VSHUNT_SHIFTS (4)
|
||||
#define INA238_VSHUNT_MASK (UINT32_C(0xffffff) << INA238_VSHUNT_SHIFTS)
|
||||
|
||||
/* INA238 Bus Voltage Measurement (VBUS) 24-bit Register (Address = 5h) [reset = 0h] */
|
||||
|
||||
#define INA238_VBUS_SHIFTS (4)
|
||||
#define INA238_VBUS_MASK (UINT32_C(0xffffff) << INA238_VBUS_SHIFTS)
|
||||
|
||||
/* INA238 Temperature Measurement (DIETEMP) 16-bit Register (Address = 6h) [reset = 0h] */
|
||||
|
||||
#define INA238_DIETEMP_SHIFTS (0)
|
||||
#define INA238_DIETEMP_MASK (0xffff << INA238_DIETEMP_SHIFTS)
|
||||
|
||||
/* INA238 Current Result (CURRENT) 24-bit Register (Address = 7h) [reset = 0h] */
|
||||
|
||||
#define INA238_CURRENT_SHIFTS (4)
|
||||
#define INA238_CURRENT_MASK (UINT32_C(0xffffff) << INA238_CURRENT_SHIFTS)
|
||||
|
||||
/* INA238 Power Result (POWER) 24-bit Register (Address = 8h) [reset = 0h] */
|
||||
|
||||
#define INA238_POWER_SHIFTS (0)
|
||||
#define INA238_POWER_MASK (UINT32_C(0xffffff) << INA238_POWER_SHIFTS)
|
||||
|
||||
/* INA238 Energy Result (ENERGY) 40-bit Register (Address = 9h) [reset = 0h] */
|
||||
|
||||
#define INA238_ENERGY_SHIFTS (0)
|
||||
#define INA238_ENERGY_MASK (UINT64_C(0xffffffffff) << INA238_ENERGY_SHIFTS)
|
||||
|
||||
/* INA238 Energy Result (CHARGE) 40-bit Register (Address = Ah) [reset = 0h] */
|
||||
|
||||
#define INA238_CHARGE_SHIFTS (0)
|
||||
#define INA238_CHARGE_MASK (UINT64_C(0xffffffffff) << INA238_CHARGE_SHIFTS)
|
||||
|
||||
|
||||
/* INA238 Diagnostic Flags and Alert (DIAG_ALRT) 16-bit Register (Address = Bh) [reset = 0001h] */
|
||||
|
||||
#define INA238_MEMSTAT (1 << 0) // This bit is set to 0 if a checksum error is detected in the device trim memory space
|
||||
#define INA238_CNVRF (1 << 1) // This bit is set to 1 if the conversion is completed. When ALATCH =1 this bit is cleared by reading the register or starting a new triggered conversion.
|
||||
#define INA238_POL (1 << 2) // This bit is set to 1 if the power measurement exceeds the threshold limit in the power limit register.
|
||||
#define INA238_BUSUL (1 << 3) // This bit is set to 1 if the bus voltage measurement falls below the threshold limit in the bus under-limit register.
|
||||
#define INA238_BUSOL (1 << 4) // This bit is set to 1 if the bus voltage measurement exceeds the threshold limit in the bus over-limit register.
|
||||
#define INA238_SHNTUL (1 << 5) // This bit is set to 1 if the shunt voltage measurement falls below the threshold limit in the shunt under-limit register
|
||||
#define INA238_SHNTOL (1 << 6) // This bit is set to 1 if the shunt voltage measurement exceeds the threshold limit in the shunt over-limit register.
|
||||
#define INA238_TMPOL (1 << 7) // This bit is set to 1 if the temperature measurement exceeds the threshold limit in the temperature over-limit register.
|
||||
#define INA238_MATHOF (1 << 9) // This bit is set to 1 if an arithmetic operation resulted in an overflow error.
|
||||
#define INA238_CHARGEOF (1 << 10) // This bit indicates the health of the CHARGE register. If the 40 bit CHARGE register has overflowed this bit is set to 1.
|
||||
#define INA238_ENERGYOF (1 << 11) // This bit indicates the health of the ENERGY register. If the 40 bit ENERGY register has overflowed this bit is set to 1.
|
||||
#define INA238_APOL (1 << 12) // Alert Polarity bit sets the Alert pin polarity.
|
||||
#define INA238_SLOWALER (1 << 13) // ALERT function is asserted on the completed averaged value. This gives the flexibility to delay the ALERT after the averaged value.
|
||||
#define INA238_CNVR (1 << 14) // Setting this bit high configures the Alert pin to be asserted when the Conversion Ready Flag (bit 1) is asserted, indicating that a conversion cycle has completed
|
||||
#define INA238_ALATCH (1 << 15) // When the Alert Latch Enable bit is set to Transparent mode, the Alert pin and Flag bit reset to the idle state when the fault has been
|
||||
// cleared. When the Alert Latch Enable bit is set to Latch mode, the Alert pin and Alert Flag bit remain active following a fault until
|
||||
// the DIAG_ALRT Register has been read.
|
||||
|
||||
/* Shunt Overvoltage Threshold (SOVL) 16-bit Register (Address = Ch) [reset = 7FFFh] */
|
||||
|
||||
#define INA238_SOVL_SHIFTS (0)
|
||||
#define INA238_SOVL_MASK (0xffff << INA238_SOVL_SHIFTS)
|
||||
|
||||
/* Shunt Undervoltage Threshold (SUVL) 16-bit Register (Address = Dh) [reset = 8000h] */
|
||||
|
||||
#define INA238_SUVL_SHIFTS (0)
|
||||
#define INA238_SUVL_MASK (0xffff << INA238_SUVL_SHIFTS)
|
||||
|
||||
/* Bus Overvoltage Threshold (BOVL) 16-bit Register (Address = Eh) [reset = 7FFFh] */
|
||||
|
||||
#define INA238_BOVL_SHIFTS (0)
|
||||
#define INA238_BOVL_MASK (0xffff << INA238_BOVL_SHIFTS)
|
||||
|
||||
/* Bus Undervoltage Threshold (BUVL) 16-bit Register (Address = Fh) [reset = 0h] */
|
||||
|
||||
#define INA238_BUVL_SHIFTS (0)
|
||||
#define INA238_BUVL_MASK (0xffff << INA238_BUVL_SHIFTS)
|
||||
|
||||
/* Temperature Over-Limit Threshold (TEMP_LIMIT) 16-bit Register (Address = 10h) [reset = 7FFFh */
|
||||
|
||||
#define INA238_TEMP_LIMIT_SHIFTS (0)
|
||||
#define INA238_TEMP_LIMIT_MASK (0xffff << INA238_TEMP_LIMIT_SHIFTS)
|
||||
|
||||
/* Power Over-Limit Threshold (PWR_LIMIT) 16-bit Register (Address = 11h) [reset = FFFFh] */
|
||||
|
||||
#define INA238_POWER_LIMIT_SHIFTS (0)
|
||||
#define INA238_POWER_LIMIT_MASK (0xffff << INA238_POWER_LIMIT_SHIFTS)
|
||||
|
||||
/* Manufacturer ID (MANUFACTURER_ID) 16-bit Register (Address = 3Eh) [reset = 5449h] */
|
||||
|
||||
/* Device ID (DEVICE_ID) 16-bit Register (Address = 3Fh) [reset = 2380h] */
|
||||
|
||||
#define INA238_DEVICE_REV_ID_SHIFTS (0)
|
||||
#define INA238_DEVICE_REV_ID_MASK (0xf << INA238_DEVICE_REV_ID_SHIFTS)
|
||||
#define INA238_DEVICEREV_ID(v) (((v) & INA238_DEVICE_REV_ID_MASK) >> INA238_DEVICE_REV_ID_SHIFTS)
|
||||
#define INA238_DEVICE_ID_SHIFTS (4)
|
||||
#define INA238_DEVICE_ID_MASK (0xfff << INA238_DEVICE_ID_SHIFTS)
|
||||
#define INA238_DEVICEID(v) (((v) & INA238_DEVICE_ID_MASK) >> INA238_DEVICE_ID_SHIFTS)
|
||||
|
||||
#define INA238_SAMPLE_FREQUENCY_HZ 10
|
||||
#define INA238_SAMPLE_INTERVAL_US (1_s / INA238_SAMPLE_FREQUENCY_HZ)
|
||||
#define INA238_CONVERSION_INTERVAL (INA238_SAMPLE_INTERVAL_US - 7)
|
||||
#define INA238_DN_MAX 32768.0f /* 2^15 */
|
||||
#define INA238_CONST 819.2e6f /* is an internal fixed value used to ensure scaling is maintained properly */
|
||||
#define INA238_VSCALE 3.125e-03f /* LSB of voltage is 3.1255 mV/LSB */
|
||||
|
||||
|
||||
#define DEFAULT_MAX_CURRENT 327.68f /* Amps */
|
||||
#define DEFAULT_SHUNT 0.0003f /* Shunt is 300 uOhm */
|
||||
|
||||
#define swap16(w) __builtin_bswap16((w))
|
||||
#define swap32(d) __builtin_bswap32((d))
|
||||
#define swap64(q) __builtin_bswap64((q))
|
||||
|
||||
class INA238 : public device::I2C, public ModuleParams, public I2CSPIDriver<INA238>
|
||||
{
|
||||
public:
|
||||
INA238(const I2CSPIDriverConfig &config, int battery_index);
|
||||
virtual ~INA238();
|
||||
|
||||
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
|
||||
static void print_usage();
|
||||
|
||||
void RunImpl();
|
||||
|
||||
int init() override;
|
||||
|
||||
/**
|
||||
* Tries to call the init() function. If it fails, then it will schedule to retry again in
|
||||
* INA238_INIT_RETRY_INTERVAL_US microseconds. It will keep retrying at this interval until initialization succeeds.
|
||||
*
|
||||
* @return PX4_OK if initialization succeeded on the first try. Negative value otherwise.
|
||||
*/
|
||||
int force_init();
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_status() override;
|
||||
|
||||
protected:
|
||||
int probe() override;
|
||||
|
||||
private:
|
||||
bool _sensor_ok{false};
|
||||
unsigned int _measure_interval{0};
|
||||
bool _collect_phase{false};
|
||||
bool _initialized{false};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
perf_counter_t _collection_errors;
|
||||
|
||||
// Configuration state, computed from params
|
||||
float _max_current;
|
||||
float _rshunt;
|
||||
float _current_lsb;
|
||||
int16_t _range;
|
||||
|
||||
actuator_controls_s _actuator_controls{};
|
||||
|
||||
Battery _battery;
|
||||
uORB::Subscription _actuators_sub{ORB_ID(actuator_controls_0)};
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
int read(uint8_t address, uint16_t &data);
|
||||
int write(uint8_t address, uint16_t data);
|
||||
|
||||
int read(uint8_t address, int16_t &data)
|
||||
{
|
||||
return read(address, (uint16_t &)data);
|
||||
}
|
||||
|
||||
int write(uint8_t address, int16_t data)
|
||||
{
|
||||
return write(address, (uint16_t)data);
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialise the automatic measurement state machine and start it.
|
||||
*
|
||||
* @note This function is called at open and error time. It might make sense
|
||||
* to make it more aggressive about resetting the bus in case of errors.
|
||||
*/
|
||||
void start();
|
||||
|
||||
int collect();
|
||||
|
||||
};
|
||||
+12
-12
@@ -33,11 +33,11 @@
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
#include "ina23X.h"
|
||||
#include "ina238.h"
|
||||
|
||||
I2CSPIDriverBase *INA23X::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
|
||||
I2CSPIDriverBase *INA238::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
|
||||
{
|
||||
INA23X *instance = new INA23X(config, config.custom1);
|
||||
INA238 *instance = new INA238(config, config.custom1);
|
||||
|
||||
if (instance == nullptr) {
|
||||
PX4_ERR("alloc failed");
|
||||
@@ -46,7 +46,7 @@ I2CSPIDriverBase *INA23X::instantiate(const I2CSPIDriverConfig &config, int runt
|
||||
|
||||
if (config.keep_running) {
|
||||
if (instance->force_init() != PX4_OK) {
|
||||
PX4_INFO("Failed to init INA23X on bus %d, but will try again periodically.", config.bus);
|
||||
PX4_INFO("Failed to init INA238 on bus %d, but will try again periodically.", config.bus);
|
||||
}
|
||||
|
||||
} else if (instance->init() != PX4_OK) {
|
||||
@@ -58,25 +58,25 @@ I2CSPIDriverBase *INA23X::instantiate(const I2CSPIDriverConfig &config, int runt
|
||||
}
|
||||
|
||||
void
|
||||
INA23X::print_usage()
|
||||
INA238::print_usage()
|
||||
{
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
Driver for the INA23X power monitor.
|
||||
Driver for the INA238 power monitor.
|
||||
|
||||
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
|
||||
|
||||
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45.
|
||||
|
||||
If the INA23X module is not powered, then by default, initialization of the driver will fail. To change this, use
|
||||
If the INA238 module is not powered, then by default, initialization of the driver will fail. To change this, use
|
||||
the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again
|
||||
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
|
||||
this flag set, the battery must be plugged in before starting the driver.
|
||||
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("ina23X", "driver");
|
||||
PRINT_MODULE_USAGE_NAME("ina238", "driver");
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
|
||||
@@ -87,12 +87,12 @@ this flag set, the battery must be plugged in before starting the driver.
|
||||
}
|
||||
|
||||
extern "C" int
|
||||
ina23X_main(int argc, char *argv[])
|
||||
ina238_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
using ThisDriver = INA23X;
|
||||
using ThisDriver = INA238;
|
||||
BusCLIArguments cli{true, false};
|
||||
cli.i2c_address = INA23X_BASEADDR;
|
||||
cli.i2c_address = INA238_BASEADDR;
|
||||
cli.default_i2c_frequency = 100000;
|
||||
cli.support_keep_running = true;
|
||||
cli.custom1 = 1;
|
||||
@@ -111,7 +111,7 @@ ina23X_main(int argc, char *argv[])
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_POWER_DEVTYPE_INA23X);
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_POWER_DEVTYPE_INA238);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
+7
-18
@@ -32,29 +32,18 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Enable INA23X Power Monitor
|
||||
* Enable INA238 Power Monitor
|
||||
*
|
||||
* For systems a INA23X Power Monitor, this should be set to true
|
||||
* For systems a INA238 Power Monitor, this should be set to true
|
||||
*
|
||||
* @group Sensors
|
||||
* @boolean
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_INA23X, 0);
|
||||
PARAM_DEFINE_INT32(SENS_EN_INA238, 0);
|
||||
|
||||
/**
|
||||
* INA23X Power Monitor Config
|
||||
*
|
||||
* @group Sensors
|
||||
* @min 0
|
||||
* @max 65535
|
||||
* @decimal 1
|
||||
* @increment 1
|
||||
*/
|
||||
PARAM_DEFINE_INT32(INA23X_CONFIG, 63779);
|
||||
|
||||
/**
|
||||
* INA23X Power Monitor Max Current
|
||||
* INA238 Power Monitor Max Current
|
||||
*
|
||||
* @group Sensors
|
||||
* @min 0.1
|
||||
@@ -62,10 +51,10 @@ PARAM_DEFINE_INT32(INA23X_CONFIG, 63779);
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(INA23X_CURRENT, 327.68f);
|
||||
PARAM_DEFINE_FLOAT(INA238_CURRENT, 327.68f);
|
||||
|
||||
/**
|
||||
* INA23X Power Monitor Shunt
|
||||
* INA238 Power Monitor Shunt
|
||||
*
|
||||
* @group Sensors
|
||||
* @min 0.000000001
|
||||
@@ -73,4 +62,4 @@ PARAM_DEFINE_FLOAT(INA23X_CURRENT, 327.68f);
|
||||
* @decimal 10
|
||||
* @increment .000000001
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(INA23X_SHUNT, 0.0003f);
|
||||
PARAM_DEFINE_FLOAT(INA238_SHUNT, 0.0003f);
|
||||
@@ -1,375 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <battery/battery.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionInterval.hpp>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <px4_platform_common/i2c_spi_buses.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
/* Configuration Constants */
|
||||
#define INA23X_BASEADDR 0x45 /* 7-bit address. 8-bit address is 0x45 */
|
||||
// If initialization is forced (with the -f flag on the command line), but it fails, the drive will try again to
|
||||
// connect to the INA23X every this many microseconds
|
||||
#define INA23X_INIT_RETRY_INTERVAL_US 500000
|
||||
|
||||
/* INA23X Registers addresses */
|
||||
#define INA23X_REG_CONFIG (0x00)
|
||||
#define INA23X_REG_ADCCONFIG (0x01)
|
||||
#define INA23X_REG_SHUNTCAL (0x02)
|
||||
#define INA23X_REG_SHUNTTEMPCO (0x03)
|
||||
#define INA23X_REG_VSHUNT (0x04)
|
||||
#define INA23X_REG_VSBUS (0x05)
|
||||
#define INA23X_REG_DIETEMP (0x06)
|
||||
#define INA23X_REG_CURRENT (0x07)
|
||||
#define INA23X_REG_POWER (0x08)
|
||||
#define INA23X_REG_ENERGY (0x09)
|
||||
#define INA23X_REG_CHARGE (0x0a)
|
||||
#define INA23X_REG_DIAG_ALRT (0x0b)
|
||||
#define INA23X_REG_SOVL (0x0c)
|
||||
#define INA23X_REG_SUVL (0x0d)
|
||||
#define INA23X_REG_BOVL (0x0e)
|
||||
#define INA23X_REG_BUVL (0x0f)
|
||||
#define INA23X_REG_TEMP_LIMIT (0x10)
|
||||
#define INA23X_REG_TPWR_LIMIT (0x11)
|
||||
#define INA23X_MANUFACTURER_ID (0x3e)
|
||||
#define INA23X_DEVICE_ID (0x3f)
|
||||
|
||||
#define INA23X_MFG_ID_TI (0x5449) // TI
|
||||
#define INA238_MFG_DIE (0x238) // INA237, INA238
|
||||
#define INA239_MFG_DIE (0x239) // INA239
|
||||
|
||||
/* INA23X Configuration (CONFIG) 16-bit Register (Address = 0h) [reset = 0h] */
|
||||
#define INA23X_ADCRANGE_SHIFTS (4)
|
||||
#define INA23X_ADCRANGE_MASK (1 << INA23X_ADCRANGE_SHIFTS)
|
||||
#define INA23X_ADCRANGE_LOW (1 << INA23X_ADCRANGE_SHIFTS) // ± 40.96 mV
|
||||
#define INA23X_ADCRANGE_HIGH (0 << INA23X_ADCRANGE_SHIFTS) // ±163.84 mV
|
||||
#define INA23X_TEMPCOMP_SHIFTS (5)
|
||||
#define INA23X_TEMPCOMP_MASK (1 << INA23X_TEMPCOMP_SHIFTS)
|
||||
#define INA23X_TEMPCOMP_ENABLE (1 << INA23X_TEMPCOMP_SHIFTS)
|
||||
#define INA23X_TEMPCOMP_DISABLE (0 << INA23X_TEMPCOMP_SHIFTS)
|
||||
|
||||
#define INA23X_CONVDLY_SHIFTS (6)
|
||||
#define INA23X_CONVDLY_MASK (0xff << INA23X_CONVDLY_SHIFTS)
|
||||
#define INA23X_CONVDLY2MS(n) ((n) << INA23X_CONVDLY_SHIFTS)
|
||||
|
||||
#define INA23X_RSTACC_SHIFTS (14)
|
||||
#define INA23X_RSTACC_MASK (1 << INA23X_RSTACC_SHIFTS)
|
||||
#define INA23X_RSTACC_CLEAR (1 << INA23X_RSTACC_SHIFTS)
|
||||
#define INA23X_RSTACC_NORMAL (0 << INA23X_RSTACC_SHIFTS)
|
||||
|
||||
#define INA23X_RST_SHIFTS (15)
|
||||
#define INA23X_RST_MASK (1 << INA23X_RST_SHIFTS)
|
||||
#define INA23X_RST_RESET (1 << INA23X_RST_SHIFTS)
|
||||
#define INA23X_RST_NORMAL (0 << INA23X_RST_SHIFTS)
|
||||
|
||||
/* INA23X ADC Configuration (ADC_CONFIG) 16-bit Register (Address = 1h) [reset = FB68h] */
|
||||
#define INA23X_MODE_SHIFTS (12)
|
||||
#define INA23X_MODE_MASK (0xf << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_SHUTDOWN_TRIG (0 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_BUS_TRIG (1 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_SHUNT_TRIG (2 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_SHUNT_BUS_TRIG (3 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_TEMP_TRIG (4 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_TEMP_BUS_TRIG (5 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_TEMP_SHUNT_TRIG (6 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_TEMP_SHUNT_BUS_TRIG (7 << INA23X_MODE_SHIFTS)
|
||||
|
||||
#define INA23X_MODE_SHUTDOWN_CONT (8 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_BUS_CONT (9 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_SHUNT_CONT (10 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_SHUNT_BUS_CONT (11 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_TEMP_CONT (12 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_TEMP_BUS_CONT (13 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_TEMP_SHUNT_CONT (14 << INA23X_MODE_SHIFTS)
|
||||
#define INA23X_MODE_TEMP_SHUNT_BUS_CONT (15 << INA23X_MODE_SHIFTS)
|
||||
|
||||
#define INA23X_VBUSCT_SHIFTS (9)
|
||||
#define INA23X_VBUSCT_MASK (7 << INA23X_VBUSCT_SHIFTS)
|
||||
#define INA23X_VBUSCT_50US (0 << INA23X_VBUSCT_SHIFTS)
|
||||
#define INA23X_VBUSCT_84US (1 << INA23X_VBUSCT_SHIFTS)
|
||||
#define INA23X_VBUSCT_150US (2 << INA23X_VBUSCT_SHIFTS)
|
||||
#define INA23X_VBUSCT_280US (3 << INA23X_VBUSCT_SHIFTS)
|
||||
#define INA23X_VBUSCT_540US (4 << INA23X_VBUSCT_SHIFTS)
|
||||
#define INA23X_VBUSCT_1052US (5 << INA23X_VBUSCT_SHIFTS)
|
||||
#define INA23X_VBUSCT_2074US (6 << INA23X_VBUSCT_SHIFTS)
|
||||
#define INA23X_VBUSCT_4170US (7 << INA23X_VBUSCT_SHIFTS)
|
||||
|
||||
#define INA23X_VSHCT_SHIFTS (6)
|
||||
#define INA23X_VSHCT_MASK (7 << INA23X_VSHCT_SHIFTS)
|
||||
#define INA23X_VSHCT_50US (0 << INA23X_VSHCT_SHIFTS)
|
||||
#define INA23X_VSHCT_84US (1 << INA23X_VSHCT_SHIFTS)
|
||||
#define INA23X_VSHCT_150US (2 << INA23X_VSHCT_SHIFTS)
|
||||
#define INA23X_VSHCT_280US (3 << INA23X_VSHCT_SHIFTS)
|
||||
#define INA23X_VSHCT_540US (4 << INA23X_VSHCT_SHIFTS)
|
||||
#define INA23X_VSHCT_1052US (5 << INA23X_VSHCT_SHIFTS)
|
||||
#define INA23X_VSHCT_2074US (6 << INA23X_VSHCT_SHIFTS)
|
||||
#define INA23X_VSHCT_4170US (7 << INA23X_VSHCT_SHIFTS)
|
||||
|
||||
#define INA23X_VTCT_SHIFTS (3)
|
||||
#define INA23X_VTCT_MASK (7 << INA23X_VTCT_SHIFTS)
|
||||
#define INA23X_VTCT_50US (0 << INA23X_VTCT_SHIFTS)
|
||||
#define INA23X_VTCT_84US (1 << INA23X_VTCT_SHIFTS)
|
||||
#define INA23X_VTCT_150US (2 << INA23X_VTCT_SHIFTS)
|
||||
#define INA23X_VTCT_280US (3 << INA23X_VTCT_SHIFTS)
|
||||
#define INA23X_VTCT_540US (4 << INA23X_VTCT_SHIFTS)
|
||||
#define INA23X_VTCT_1052US (5 << INA23X_VTCT_SHIFTS)
|
||||
#define INA23X_VTCT_2074US (6 << INA23X_VTCT_SHIFTS)
|
||||
#define INA23X_VTCT_4170US (7 << INA23X_VTCT_SHIFTS)
|
||||
|
||||
#define INA23X_AVERAGES_SHIFTS (0)
|
||||
#define INA23X_AVERAGES_MASK (7 << INA23X_AVERAGES_SHIFTS)
|
||||
#define INA23X_AVERAGES_1 (0 << INA23X_AVERAGES_SHIFTS)
|
||||
#define INA23X_AVERAGES_4 (1 << INA23X_AVERAGES_SHIFTS)
|
||||
#define INA23X_AVERAGES_16 (2 << INA23X_AVERAGES_SHIFTS)
|
||||
#define INA23X_AVERAGES_64 (3 << INA23X_AVERAGES_SHIFTS)
|
||||
#define INA23X_AVERAGES_128 (4 << INA23X_AVERAGES_SHIFTS)
|
||||
#define INA23X_AVERAGES_256 (5 << INA23X_AVERAGES_SHIFTS)
|
||||
#define INA23X_AVERAGES_512 (6 << INA23X_AVERAGES_SHIFTS)
|
||||
#define INA23X_AVERAGES_1024 (7 << INA23X_AVERAGES_SHIFTS)
|
||||
|
||||
#define INA23X_ADCCONFIG (INA23X_MODE_TEMP_SHUNT_BUS_CONT | INA23X_VBUSCT_540US | INA23X_VSHCT_540US | INA23X_VTCT_540US |INA23X_AVERAGES_64)
|
||||
|
||||
/* INA23X Shunt Calibration (SHUNT_CAL) 16-bit Register (Address = 2h) [reset = 1000h] */
|
||||
|
||||
#define INA23X_CURRLSB_SHIFTS (0)
|
||||
#define INA23X_CURRLSB_MASK (0x7fff << INA23X_CURRLSB_SHIFTS)
|
||||
|
||||
/* INA23X Shunt Temperature Coefficient (SHUNT_TEMPCO) 16-bit Register (Address = 3h) [reset = 0h] */
|
||||
|
||||
#define INA23X_TEMPCO_SHIFTS (0)
|
||||
#define INA23X_TEMPCO_MASK (0x1fff << INA23X_TEMPCO_SHIFTS)
|
||||
|
||||
/* INA23X Shunt Voltage Measurement (VSHUNT) 24-bit Register (Address = 4h) [reset = 0h] */
|
||||
|
||||
#define INA23X_VSHUNT_SHIFTS (4)
|
||||
#define INA23X_VSHUNT_MASK (UINT32_C(0xffffff) << INA23X_VSHUNT_SHIFTS)
|
||||
|
||||
/* INA23X Bus Voltage Measurement (VBUS) 24-bit Register (Address = 5h) [reset = 0h] */
|
||||
|
||||
#define INA23X_VBUS_SHIFTS (4)
|
||||
#define INA23X_VBUS_MASK (UINT32_C(0xffffff) << INA23X_VBUS_SHIFTS)
|
||||
|
||||
/* INA23X Temperature Measurement (DIETEMP) 16-bit Register (Address = 6h) [reset = 0h] */
|
||||
|
||||
#define INA23X_DIETEMP_SHIFTS (0)
|
||||
#define INA23X_DIETEMP_MASK (0xffff << INA23X_DIETEMP_SHIFTS)
|
||||
|
||||
/* INA23X Current Result (CURRENT) 24-bit Register (Address = 7h) [reset = 0h] */
|
||||
|
||||
#define INA23X_CURRENT_SHIFTS (4)
|
||||
#define INA23X_CURRENT_MASK (UINT32_C(0xffffff) << INA23X_CURRENT_SHIFTS)
|
||||
|
||||
/* INA23X Power Result (POWER) 24-bit Register (Address = 8h) [reset = 0h] */
|
||||
|
||||
#define INA23X_POWER_SHIFTS (0)
|
||||
#define INA23X_POWER_MASK (UINT32_C(0xffffff) << INA23X_POWER_SHIFTS)
|
||||
|
||||
/* INA23X Energy Result (ENERGY) 40-bit Register (Address = 9h) [reset = 0h] */
|
||||
|
||||
#define INA23X_ENERGY_SHIFTS (0)
|
||||
#define INA23X_ENERGY_MASK (UINT64_C(0xffffffffff) << INA23X_ENERGY_SHIFTS)
|
||||
|
||||
/* INA23X Energy Result (CHARGE) 40-bit Register (Address = Ah) [reset = 0h] */
|
||||
|
||||
#define INA23X_CHARGE_SHIFTS (0)
|
||||
#define INA23X_CHARGE_MASK (UINT64_C(0xffffffffff) << INA23X_CHARGE_SHIFTS)
|
||||
|
||||
|
||||
/* INA23X Diagnostic Flags and Alert (DIAG_ALRT) 16-bit Register (Address = Bh) [reset = 0001h] */
|
||||
|
||||
#define INA23X_MEMSTAT (1 << 0) // This bit is set to 0 if a checksum error is detected in the device trim memory space
|
||||
#define INA23X_CNVRF (1 << 1) // This bit is set to 1 if the conversion is completed. When ALATCH =1 this bit is cleared by reading the register or starting a new triggered conversion.
|
||||
#define INA23X_POL (1 << 2) // This bit is set to 1 if the power measurement exceeds the threshold limit in the power limit register.
|
||||
#define INA23X_BUSUL (1 << 3) // This bit is set to 1 if the bus voltage measurement falls below the threshold limit in the bus under-limit register.
|
||||
#define INA23X_BUSOL (1 << 4) // This bit is set to 1 if the bus voltage measurement exceeds the threshold limit in the bus over-limit register.
|
||||
#define INA23X_SHNTUL (1 << 5) // This bit is set to 1 if the shunt voltage measurement falls below the threshold limit in the shunt under-limit register
|
||||
#define INA23X_SHNTOL (1 << 6) // This bit is set to 1 if the shunt voltage measurement exceeds the threshold limit in the shunt over-limit register.
|
||||
#define INA23X_TMPOL (1 << 7) // This bit is set to 1 if the temperature measurement exceeds the threshold limit in the temperature over-limit register.
|
||||
#define INA23X_MATHOF (1 << 9) // This bit is set to 1 if an arithmetic operation resulted in an overflow error.
|
||||
#define INA23X_CHARGEOF (1 << 10) // This bit indicates the health of the CHARGE register. If the 40 bit CHARGE register has overflowed this bit is set to 1.
|
||||
#define INA23X_ENERGYOF (1 << 11) // This bit indicates the health of the ENERGY register. If the 40 bit ENERGY register has overflowed this bit is set to 1.
|
||||
#define INA23X_APOL (1 << 12) // Alert Polarity bit sets the Alert pin polarity.
|
||||
#define INA23X_SLOWALER (1 << 13) // ALERT function is asserted on the completed averaged value. This gives the flexibility to delay the ALERT after the averaged value.
|
||||
#define INA23X_CNVR (1 << 14) // Setting this bit high configures the Alert pin to be asserted when the Conversion Ready Flag (bit 1) is asserted, indicating that a conversion cycle has completed
|
||||
#define INA23X_ALATCH (1 << 15) // When the Alert Latch Enable bit is set to Transparent mode, the Alert pin and Flag bit reset to the idle state when the fault has been
|
||||
// cleared. When the Alert Latch Enable bit is set to Latch mode, the Alert pin and Alert Flag bit remain active following a fault until
|
||||
// the DIAG_ALRT Register has been read.
|
||||
|
||||
/* Shunt Overvoltage Threshold (SOVL) 16-bit Register (Address = Ch) [reset = 7FFFh] */
|
||||
|
||||
#define INA23X_SOVL_SHIFTS (0)
|
||||
#define INA23X_SOVL_MASK (0xffff << INA23X_SOVL_SHIFTS)
|
||||
|
||||
/* Shunt Undervoltage Threshold (SUVL) 16-bit Register (Address = Dh) [reset = 8000h] */
|
||||
|
||||
#define INA23X_SUVL_SHIFTS (0)
|
||||
#define INA23X_SUVL_MASK (0xffff << INA23X_SUVL_SHIFTS)
|
||||
|
||||
/* Bus Overvoltage Threshold (BOVL) 16-bit Register (Address = Eh) [reset = 7FFFh] */
|
||||
|
||||
#define INA23X_BOVL_SHIFTS (0)
|
||||
#define INA23X_BOVL_MASK (0xffff << INA23X_BOVL_SHIFTS)
|
||||
|
||||
/* Bus Undervoltage Threshold (BUVL) 16-bit Register (Address = Fh) [reset = 0h] */
|
||||
|
||||
#define INA23X_BUVL_SHIFTS (0)
|
||||
#define INA23X_BUVL_MASK (0xffff << INA23X_BUVL_SHIFTS)
|
||||
|
||||
/* Temperature Over-Limit Threshold (TEMP_LIMIT) 16-bit Register (Address = 10h) [reset = 7FFFh */
|
||||
|
||||
#define INA23X_TEMP_LIMIT_SHIFTS (0)
|
||||
#define INA23X_TEMP_LIMIT_MASK (0xffff << INA23X_TEMP_LIMIT_SHIFTS)
|
||||
|
||||
/* Power Over-Limit Threshold (PWR_LIMIT) 16-bit Register (Address = 11h) [reset = FFFFh] */
|
||||
|
||||
#define INA23X_POWER_LIMIT_SHIFTS (0)
|
||||
#define INA23X_POWER_LIMIT_MASK (0xffff << INA23X_POWER_LIMIT_SHIFTS)
|
||||
|
||||
/* Manufacturer ID (MANUFACTURER_ID) 16-bit Register (Address = 3Eh) [reset = 5449h] */
|
||||
|
||||
/* Device ID (DEVICE_ID) 16-bit Register (Address = 3Fh) [reset = 23X0h] */
|
||||
|
||||
#define INA23X_DEVICE_REV_ID_SHIFTS (0)
|
||||
#define INA23X_DEVICE_REV_ID_MASK (0xf << INA23X_DEVICE_REV_ID_SHIFTS)
|
||||
#define INA23X_DEVICEREV_ID(v) (((v) & INA23X_DEVICE_REV_ID_MASK) >> INA23X_DEVICE_REV_ID_SHIFTS)
|
||||
#define INA23X_DEVICE_ID_SHIFTS (4)
|
||||
#define INA23X_DEVICE_ID_MASK (0xfff << INA23X_DEVICE_ID_SHIFTS)
|
||||
#define INA23X_DEVICEID(v) (((v) & INA23X_DEVICE_ID_MASK) >> INA23X_DEVICE_ID_SHIFTS)
|
||||
|
||||
#define INA23X_SAMPLE_FREQUENCY_HZ 10
|
||||
#define INA23X_SAMPLE_INTERVAL_US (1_s / INA23X_SAMPLE_FREQUENCY_HZ)
|
||||
#define INA23X_CONVERSION_INTERVAL (INA23X_SAMPLE_INTERVAL_US - 7)
|
||||
#define INA23X_DN_MAX 32768.0f /* 2^15 */
|
||||
#define INA23X_CONST 819.2e6f /* is an internal fixed value used to ensure scaling is maintained properly */
|
||||
#define INA23X_VSCALE 3.125e-03f /* LSB of voltage is 3.1255 mV/LSB */
|
||||
|
||||
|
||||
#define DEFAULT_MAX_CURRENT 327.68f /* Amps */
|
||||
#define DEFAULT_SHUNT 0.0003f /* Shunt is 300 uOhm */
|
||||
|
||||
#define swap16(w) __builtin_bswap16((w))
|
||||
#define swap32(d) __builtin_bswap32((d))
|
||||
#define swap64(q) __builtin_bswap64((q))
|
||||
|
||||
class INA23X : public device::I2C, public ModuleParams, public I2CSPIDriver<INA23X>
|
||||
{
|
||||
public:
|
||||
INA23X(const I2CSPIDriverConfig &config, int battery_index);
|
||||
virtual ~INA23X();
|
||||
|
||||
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
|
||||
static void print_usage();
|
||||
|
||||
void RunImpl();
|
||||
|
||||
int init() override;
|
||||
|
||||
/**
|
||||
* Tries to call the init() function. If it fails, then it will schedule to retry again in
|
||||
* INA23X_INIT_RETRY_INTERVAL_US microseconds. It will keep retrying at this interval until initialization succeeds.
|
||||
*
|
||||
* @return PX4_OK if initialization succeeded on the first try. Negative value otherwise.
|
||||
*/
|
||||
int force_init();
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_status() override;
|
||||
|
||||
protected:
|
||||
int probe() override;
|
||||
|
||||
private:
|
||||
bool _sensor_ok{false};
|
||||
unsigned int _measure_interval{0};
|
||||
bool _collect_phase{false};
|
||||
bool _initialized{false};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
perf_counter_t _collection_errors;
|
||||
perf_counter_t _measure_errors;
|
||||
|
||||
// Configuration state, computed from params
|
||||
float _max_current;
|
||||
float _rshunt;
|
||||
float _current_lsb;
|
||||
uint16_t _config;
|
||||
int16_t _range;
|
||||
bool _mode_triggered;
|
||||
|
||||
actuator_controls_s _actuator_controls{};
|
||||
|
||||
Battery _battery;
|
||||
uORB::Subscription _actuators_sub{ORB_ID(actuator_controls_0)};
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
int read(uint8_t address, uint16_t &data);
|
||||
int write(uint8_t address, uint16_t data);
|
||||
|
||||
int read(uint8_t address, int16_t &data)
|
||||
{
|
||||
return read(address, (uint16_t &)data);
|
||||
}
|
||||
|
||||
int write(uint8_t address, int16_t data)
|
||||
{
|
||||
return write(address, (uint16_t)data);
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialise the automatic measurement state machine and start it.
|
||||
*
|
||||
* @note This function is called at open and error time. It might make sense
|
||||
* to make it more aggressive about resetting the bus in case of errors.
|
||||
*/
|
||||
void start();
|
||||
|
||||
int measure();
|
||||
int collect();
|
||||
|
||||
};
|
||||
Reference in New Issue
Block a user